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This paper presents mechanical design process of an industrial and economical SCARA robot, called FUM SCARA, designed by a team of students at the Ferdowsi University of Mashhad, in Iran. SCARA robots are among the most widely used robots in industry due to their inherent rigidity and high accuracy. The design process included, joint design, link design,(More)
Repeatability is one of the most important features of an industrial robot. It is a key feature stated by commercial robot manufacturers. Details of repeatability calculation method for industrial robots is presented by ISO 9283. However, the well-known robot manufactures do not state how they calculate their repeatability. In this paper, the industrial FUM(More)
Recently, the variety of devices and robots are available for recovering and rehabilitating human disorder patients. In this paper, simple and effective control method utilized for position-impedance control. This method consists of two parts, namely position control in free space and fuzzy impedance control in contact. First, kinematics and dynamics of(More)
This paper addressed a new system identification method which is simply applicable to identify both of the linear and nonlinear models. Having a rough and initial range of values for the parameters of the system, the Taguchi method is used to identify the model of the purposed system. The purposed method is implemented on a custom made linear series elastic(More)
In this paper the mechanical design process of a special linear-rotary joint for a SCARA robot, called FUM SCARA, is illustrated. FUM SCARA is constructed in the Robotics Lab of Ferdowsi University of Mashhad, in Iran. Main features of this robot are overall ±0.015 mm repeatability in XYZ plane, 8.5 m/s end-effector velocity and 0.5 seconds full pick(More)
The advancement of technology has enabled new functions and possibilities for prosthetic devices. This advancement has introduced additional complexities for the user of the prosthetic devices. The added complexities can actually force the user to use simpler passive prosthesis rather than more complex and more flexible ones. This paper discussed the(More)